#ifndef RETURN_TO_CHARGING_STATION_H
#define RETURN_TO_CHARGING_STATION_H

#include "behaviortree_cpp/bt_factory.h"
#include "rclcpp/rclcpp.hpp"

class ReturnToChargingStation : public BT::StatefulActionNode
{
  public:
    ReturnToChargingStation(const std::string& name, const BT::NodeConfig& config,
                            rclcpp::Node* node);

    static BT::PortsList providedPorts();
    BT::NodeStatus onStart() override;
    BT::NodeStatus onRunning() override;
    void onHalted() override;

  private:
    rclcpp::Node* node_;
    bool return_complete_;
    rclcpp::TimerBase::SharedPtr timer_;
};

#endif